/*
 * @Author: Mcfly
 * @Date: 2021-07-17 11:38:01
 * @LastEditTime: 2021-07-17 21:17:43
 * @LastEditors: Mcfly
 * @Description: 
 * @FilePath: \FTTfly\Ctrl\Atti.h
 * 本人github:https://github.com/McflyWZX
 */

#ifndef __ATTI_H__
#define __ATTI_H__

#include "stdbool.h"
#include "stdint.h"
#include "stdio.h"
#include "math.h"

#include "WP_DataType.h"
#include "OLED.h"

typedef struct
{
    float w;
    float q1;
    float q2;
    float q3;
    float pitch;
    float roll;
    float yaw;
    float gx;
    float gy;
    float gz;
	float az;
} Atti;

void Atti_Init(void);
Atti *getPlaneAtti(void);
Atti Atti_Update(Vector3f *gyro, Vector3f *accel);
void IMU_ShowRPY(Atti atti);

#endif
